Dynamic anchor assignments for uwb ranging

ABSTRACT

Presented herein are techniques for assigning Ultra-Wideband (UWB) anchors for client ranging. A control device can monitor UWB ranging between a mobile device and a primary anchor. In response to determining that a signal strength between the mobile device and the primary anchor is below a threshold, the control device can identify anchors for which the mobile device has had a signal strength above the threshold during a period of time, and select one of the anchors as a new primary anchor for the mobile device. For example, the control device can select the new primary anchor based on a relative collision tolerance mapping for the new primary anchor and at least one other anchor within a UWB range of the new primary anchor. The control device can send a command causing UWB ranging to be performed between the mobile device and the new primary anchor.

CROSS REFERENCE TO RELATED APPLICATION

This application claims priority to U.S. Provisional Patent ApplicationNo. 63/069,887, entitled “Dynamic Anchor Group Reconfiguration forSecure UWB Ranging,” filed Aug. 25, 2020, the entirety of which isincorporated herein by reference.

TECHNICAL FIELD

The present disclosure relates to network equipment and services.

BACKGROUND

Networking architectures have grown increasingly complex incommunications environments, particularly mobile networkingenvironments. In some instances, it is useful to determine a mobiledevice location within a mobile networking environment. While Instituteof Electrical and Electronics Engineers (IEEE) 802.11 (e.g., Wi-Fi®) orBluetooth® ranging techniques may be utilized in some cases to determinemobile device location, such technologies typically provide limitedlocation accuracy.

Ultra-Wideband (UWB), as defined in IEEE 802.15.4a and 802.15.4z, mayoffer improved ranging accuracy over Bluetooth and Wi-Fi. However, UWBranging techniques are not designed for scale. For example, UWB rangingprocedures generally require all UWB anchors and clients to be on thesame channel, which can cause channel saturation and/or signalcollisions.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a diagram of a system in which techniques for dynamic anchorassignments for UWB ranging may be implemented, according to an exampleembodiment.

FIG. 2 is a block diagram of an access point configured to participatein the techniques presented herein, according to an example embodiment.

FIG. 3 is a block diagram of a mobile device configured to participatein the techniques presented herein, according to an example embodiment.

FIG. 4 is a block diagram of a UWB anchor device configured toparticipate in the techniques presented herein, according to an exampleembodiment.

FIGS. 5A and 5B are diagrams depicting operations for dynamic anchorassignments for UWB ranging, according to an example embodiment.

FIG. 6 is a diagram depicting how UWB ranging operations may be assignedbetween BLE broadcasts, according to an example embodiment.

FIG. 7 is a diagram depicting chip assignments for transmission of UWBpulses for UWB ranging, according to an example embodiment.

FIG. 8 is a diagram depicting collision counts tracked by techniquespresented herein, as part of dynamic anchor assignments for UWB ranging,according to an example embodiment.

FIG. 9 is a diagram illustrating a temporal probability collision mapgenerated by techniques presented herein, as part of dynamic anchorassignments for UWB ranging, according to an example embodiment.

FIG. 10 is a diagram illustrating a geometric collision map generated bytechniques presented herein, as part of dynamic anchor assignments forUWB ranging, according to an example embodiment.

FIG. 11A is a diagram depicting a collision tolerance map generated bytechniques presented herein, as part of dynamic anchor assignments forUWB ranging, according to an example embodiment.

FIG. 11B is a diagram depicting another collision tolerance mapgenerated by techniques presented herein, as part of dynamic anchorassignments for UWB ranging, according to an example embodiment.

FIG. 12 is a diagram depicting an operation for selecting a new UWBprimary anchor for a mobile device as the mobile device moves through avenue, according to an example embodiment.

FIG. 13 is a flow chart depicting a method for dynamic anchorassignments for UWB ranging, according to an example embodiment.

FIG. 14 is a flow chart depicting a method for selecting a new UWBprimary anchor for a mobile device, according to an example embodiment.

FIG. 15 is a block diagram of a computing device configured to performfunctions associated with the techniques described herein, according toan example embodiment.

DESCRIPTION OF EXAMPLE EMBODIMENTS Overview

In one embodiment, a control device can be configured to monitorultra-wide band (UWB) ranging between a mobile device and a primary UWBanchor. The control device can determine that a signal strength betweenthe mobile device and the primary UWB anchor is below a predeterminedthreshold. In response to this determination, the control device canidentify a plurality of UWB anchors for which the mobile device has hada signal strength above the predetermined threshold during apredetermined period of time, and select one of the plurality of UWBanchors as a new primary UWB anchor for the mobile device. For example,the control device can select the new primary UWB anchor based on arelative collision tolerance mapping for the new primary UWB anchor andat least one other UWB anchor within a UWB range of the new primary UWBanchor. The control device can send a command that causes a UWB rangingprocedure to be performed between the mobile device and the new primaryUWB anchor.

Example Embodiments

Presented herein are techniques for assigning UWB anchors for UWB clientranging. Client ranging can be used, e.g., for detecting and/or trackinga location of a mobile device. Client ranging using a UWB localizationtechnique, i.e., a localization technique involving UWB transmissions,is referred to herein as “UWB ranging.” For example, UWB ranging caninclude time-of-flight (ToF), time-of-arrival (ToA),time-difference-of-arrival (TDoA), received signal strength indicator(RSSI), or other analyses of UWB transmissions. UWB ranging isrelatively precise, providing ranging accuracy within about 10centimeters in line-of-sight (LoS) situations. This level of accuracy isuseful for both client-driven and infrastructure-based applicationswhere, for example, Bluetooth Low Energy (BLE) or Wi-Fi-based rangingmay provide disappointing results.

However, UWB ranging protocols are not designed for scale. For example,in IEEE 802.15.4a and IEEE 802.15.4z, UWB ranging is specified for onemobile device ranging against only one or a few UWB anchors. Yet, incertain environments, there may be many available UWB anchors,especially when the UWB anchors are installed near access points atceiling level and in radio frequency (RF) range of one another.

Moreover, UWB protocols generally require all UWB anchors and mobiledevices to be on the same channel. Determining which UWB anchor isassociated to which mobile device can be important to avoid channelsaturation. This is true both for UWB anchors (which may detecttransmissions from many mobile devices but may suffer from collisionswith mobile devices ranging against neighboring UWB anchors) and formobile devices (which may encounter channel saturation and be preventedfrom engaging in the ranging exchanges they need for accurate location).

In an example embodiment, a space can include a plurality of UWB anchordevices. A control device associated with the space can be configured toidentify an optimal set of UWB anchors against which a mobile deviceshould range. For example, the control device can be configured toassign an initial set of UWB anchors for client ranging when a mobiledevice first enters the space, and the control device can be furtherconfigured to dynamically change the UWB anchor assignment asappropriate if, and as, the mobile device moves within the space.

The control device can designate one of the UWB anchor devices as aprimary UWB anchor and other of the UWB anchor devices as secondary UWBanchors. The primary UWB anchor can communicate with the mobile deviceto complete a location exchange, while the secondary UWB anchors (whichare in RF proximity to the primary UWB anchor) can operate as“receive-only anchors,” which passively receive UWB transmissions fromthe mobile device and from the primary UWB anchor but do not sendcommunications to the mobile device. The secondary UWB anchors can,e.g., report the UWB transmissions, and/or information based on the UWBtransmissions, to the control device for processing. For example, eachof the secondary UWB anchors can report to a controller of the controldevice each frame it detects, and to a location engine of the controldevice, each frame that allows computation of a range/location.

In an example embodiment, the control device is configured to monitorUWB ranging between the mobile device and the primary UWB anchor. Forexample, the control device can monitor a signal strength between themobile device and the primary UWB anchor. If the control devicedetermines that the signal strength between the mobile device and theprimary UWB anchor is below a predetermined threshold (sometimes calleda “handover threshold”), the control device can initiate a procedure todynamically reassign the primary UWB anchor for the mobile device. Inparticular, the control device can identify a plurality of UWB anchorsfor which the mobile device has had a signal strength above the handoverthreshold during a predetermined period of time, and select one of theplurality of UWB anchors as a new primary UWB anchor for the mobiledevice.

In an example embodiment, the control device can select the new primaryUWB anchor based on a relative collision tolerance mapping. For example,the control device can compute the relative collision tolerance mappingusing at least one temporal probability collision map and at least onegeometric collision map. Each temporal probability collision map canindicate, for a particular UWB anchor, a collision probability if amobile device count of mobile devices ranging against the particular UWBanchor increases. For example, the collision probability can bedetermined based on historical data, including a collision count andmobile device count during a particular time interval. Each geometriccollision map can identify, for a particular UWB anchor, other UWBanchors that have each detected at least one mobile device-to-anchorexchange involving the particular UWB anchor. Thus, the geometriccollision map can indicate what ranging against any possible UWB anchormight mean in terms of detections by/from other UWB anchors.

The control device can use a cross-correlation of one or more of thetemporal probability collision map(s) and one or more of the geometriccollision map(s), along with signal levels (and/or other information)when collisions have occurred, to compute the relative collisiontolerance mapping. For example, the relative collision tolerance mappingcan include, for each particular one of the plurality of UWB anchors, aprobability that a mobile device ranging against another of the UWBanchors would cause a destructive collision with the particular one ofthe plurality of UWB anchors. A “destructive collision” is a collisionthat causes a UWB anchor not to receive a signal intended for the UWBanchor at a level sufficient for the UWB anchor to interpret the signal.A collision may be considered “non-destructive,” for example, if a UWBanchor receives a signal, which reflects the occurrence of the collisionbut nevertheless is at a level sufficient for the UWB anchor tointerpret the signal.

For example, the relative collision tolerance mapping can be establishedpairwise between UWB anchors, with space between the UWB anchors beingdivided in a grid or other structure. As mobile devices traverse thespace (and correspondingly, the grid), their positions can be recorded,along with information regarding whether they successfully orunsuccessfully range with one or more different UWB anchors. Forexample, a likelihood of a client location for a mobile device involvedin a signal collision at a time n can be determined from n−1/n+1 rangesfor the mobile device. As there are multiple mobile devices likely to bemoving between any two anchor pairs, this logic can be extended to builda grid (or other structure) with a count of mobile devices in eachcell/square of the grid, and the collision likelihood based on how manycollisions happened with these various mobile device counts andpositions. Signal level can be extrapolated from mobile device position.As more mobile devices are added, their likelihood to collide canincrease naturally. Historical information regarding successful andunsuccessful ranging operations can be used to determine destructivecollision probabilities. For example, if a mobile device at position 3and another mobile device at position 57 ranged at the same time in thepast, and did it successfully, then there may be a relatively lowprobability that a future signal collision involving these (or similarlyconfigured) mobile devices at these locations would be destructive.

The control device can select the new primary UWB anchor, e.g., based onrespective tolerance and mobile device signal levels, informed by therelative collision tolerance mapping. For example, the control devicecan maximize {tolerance, mobile device signal} and select a primary UWBanchor with a highest relative tolerance and mobile device signal. Thetolerance value can be determined, e.g., using historical information,which may be reflected in the relative collision tolerance mapping, suchas one or more measurements regarding which anchors received mobiledevice signals from each of various different grid positions, when amobile device in a substantially equivalent location was trying torange. For example, the tolerance can be a combination between a mobiledevice coarse location (e.g., position in the grid), mobile devicesignal power, and the individual anchor considered. Thus, for eachposition and power level of a particular mobile device, each anchor canhave a tolerance value (e.g., a value from 1 to 100, though any range ofnumbers or other values could be used) that describes how likely it isthat an exchange with the anchor will collide with another mobiledevice's exchange with another anchor (a high collision likelihoodgenerally corresponding to a low tolerance). As described in more detailbelow, the tolerance value may reflect a relative destructivity, e.g.,by including a weight or other factor, so that the tolerance valueindicates a likelihood of destructive collisions as opposed tocollisions generally.

Accordingly, the control device may select a primary UWB anchor forwhich (a) effective ranging triangulation will be available (because thetransmissions between the anchor and the mobile device will be detectedby other, secondary anchors around the mobile device), and (b) rangingagainst the anchor will cause a minimal amount of (disruptive)interference with other mobile devices ranging against other anchors.The control device can send a command that causes a UWB rangingprocedure to be performed between the mobile device and the new primaryUWB anchor.

Turning now to FIG. 1, an example system 100 for assigning UWB anchorsfor client ranging within a space 101 can include a plurality of radiodevices 105 configured to wirelessly communicate with a plurality ofmobile devices 140 via one or more of a variety of differentcommunication technologies. For example, each of the radio devices 105can be configured to communicate using any radio access technology, suchas Wi-Fi, Bluetooth, Bluetooth Low Energy (BLE), IEEE 802.15.4 (low-ratewireless personal area networks (LR-WPANs)), etc. Each of the radiodevices 105 may or may not include UWB functionality.

In an example embodiment, each of the radio devices 105 includes anaccess point or other radio or network device configured to facilitate acommunication involving one or more mobile devices (such as mobiledevices 140). For example, the radio devices 105 can include one or moreaccess points configured to facilitate communication between one or moreof the mobile devices 140 and a network 150. Access points are sometimesreferred to herein as “APs” or “WLAN access points.”

Each of the radio devices 105 can communicate with (i.e., sendtransmissions to, and/or receive transmission from) one or more of themobile devices 140 using a relatively short-range wireless local areacommunication technology, such as (but not limited to) Wi-Fi WLAN, BLE,and/or UWB. For example, radio device 105(1) includesbuilt-in/integrated Wi-Fi functionality for communicating with one ormore of the mobile devices 140 over Wi-Fi WLAN, BLE functionality forcommunicating with one or more of the mobile devices 140 over BLE, andUWB functionality for communicating with one or more of the mobiledevices 140 over UWB. Radio device 105(2) includes built-in/integratedWi-Fi functionality and BLE functionality but not UWB functionality.However, radio device 105(2) is configured to achieve UWB functionalityvia a separate, peripheral UWB anchor device 115 connected to radiodevice 105(2). For example, the UWB anchor device 115 can be embodied ina peripheral device connected to radio device 105(2) via a universalserial bus (USB) dongle, a time-synchronized network (TSN) connection,or another connection technology now known or hereinafter developed.Radio device 105(n) also does not include built-in/integrated UWBfunctionality, and is not connected to any peripheral UWB anchor device.Therefore, radio device 105(n) is not configured to achieve UWBfunctionality.

Each of the mobile devices 140 can include any mobile device or otherobject capable of over-the-air RF communications utilizing wirelesslocal area communication technologies such as (but not limited to) Wi-FiWLAN, BLE, and UWB. Each of the mobile devices 140 also may be capableof over-the-air RF communications utilizing one or more wireless widearea communication technologies such as Third Generation PartnershipProject (3GPP) communication technologies (e.g., Fourth Generation(4G)/Long Term Evolution (LTE), Fifth Generation (5G), etc.). Forexample, each of the mobile devices 140 can include a mobile wirelessphone, computer, tablet, smart glasses, Augmented Reality tool, anelectronic tag (which may, e.g., be coupled to, or associated with, anelectronic or non-electronic object), or another device or object nowknown or hereinafter developed. A mobile device is sometimes referred toherein as a “client,” “station,” or “STA.”

Each of the mobile devices 140 is configured to communicate with one ormore of the radio devices 105. For example, each of the mobile devices140 may include Wi-Fi WLAN functionality for communicating with one ormore of the radio devices 105 over Wi-Fi WLAN, BLE functionality forcommunicating with one or more of the radio devices 105 over BLE, and/orUWB functionality for communicating with one or more of the radiodevices 105 over UWB (either directly or via a peripheral UWB anchordevice 115).

The mobile devices 140 also may be configured to communicate over UWBwith one or more standalone UWB anchor devices 120. A standalone UWBanchor device 120 includes functionality for receiving (and potentiallyalso sending and/or processing) UWB transmissions without beingconnected to, or integrated with, a radio device 105. Each standaloneUWB anchor device 120 also may include other communication capabilities,such as BLE wireless communication capabilities and/or wiredcommunication capabilities, e.g., via a connection to a network (such asnetwork 150) over IEEE 802.11, Ethernet, or another connection mechanismnow known or hereinafter developed.

The terms “UWB anchor” and “anchor” are used interchangeably herein torefer to any device or object configured to detect UWB transmissionsfrom one or more mobile devices (e.g., one or more of the mobile devices140). For example, a UWB anchor can include a standalone UWB anchordevice 120, a peripheral UWB anchor device 115 connected to a radiodevice 105(2), and/or a radio device 105(1) with UWB functionality. Aswould be appreciated by a person of ordinary skill in the art, while aUWB anchor can include a radio device 105, not all UWB anchors includeradio devices 105, and not all radio devices 105 constitute UWB anchors.

It should be appreciated that the number, type, and arrangement of theradio devices 105, mobile devices 140, peripheral anchor devices 115,standalone UWB anchor devices 120, and UWB anchors, and their respectiveconnectivity configurations and capabilities, are illustrative and canvary in alternative example embodiments.

The radio devices 105, peripheral UWB anchor device 115, standalone UWBanchor device 120, and mobile devices 140 are configured to communicatewith a control device 180 via a network 150. The network 150 includesany communications medium for transmitting information between two ormore computing devices. For example, the network 150 can include a localarea network (LAN), wide area network (WAN), virtual private network(VPN), Intranet, Internet, hardwire connections, modem connections,wireless connections, or combinations of one or more these items.

The control device 180 includes one or more computing devices, whichinclude a controller 185 and a location engine 190. The controller 185includes hardware and/or software that is configured to manage operationof the radio devices 105. For example, the controller 185 may be a WLANcontroller (WLC) configured to facilitate certain communicationsinvolving one or more of the mobile devices 140 through one or more ofthe radio devices 105. The controller 185 further includes an AREAengine 195 configured to cooperate with the location engine 190 toenable UWB ranging for the mobile devices 140. In one form, thecontroller 185 and the location engine 190 may be separate andphysically distinct entities. Alternatively, at least certain of thefeatures and/or functionality of the controller 185 and location engine190 may be integrated into a single entity, certain of the featuresand/or functionality described herein in connection with the controller185 may be included in, and/or performed by, the location engine 190,and/or certain of the features and/or functionality described herein inconnection with the location engine 190 may be included in, and/orperformed by, the controller 185.

The location engine 190 includes hardware and/or software that isconfigured to manage location-related transmissions involving the radiodevices 105, peripheral UWB anchor device 115, standalone UWB anchordevice 120, and/or mobile devices 140. For example, the location engine190 can be configured to cooperate with the controller 185, radiodevices 105, peripheral UWB anchor device 115, standalone UWB anchordevice 120, and/or mobile devices 140 to initiate and complete clientranging procedures within the space 101, e.g., by assigning and/orinstructing one or more of the radio devices 105, peripheral UWB anchordevice 115, and/or standalone UWB anchor device 120 to complete clientranging procedures with respect to one or more of the mobile devices140. For example, the location engine 190 can be configured so that,when a mobile device 140 enters the space 101, the location engine 190assigns one of the radio devices 105, peripheral UWB anchor device 115,or standalone UWB anchor device 120 as a primary anchor for engaging ina location exchange with the mobile device 140 and other(s) of the radiodevices 105, peripheral UWB anchor device 115, and/or standalone UWBanchor device 120 as secondary anchors for passively receivingtransmissions from the mobile device 140 and transmissions from theprimary UWB anchor for location processing. The location engine 190 canbe further configured to cooperate with the controller 185, radiodevices 105, peripheral UWB anchor device 115, standalone UWB anchordevice 120, and/or mobile devices 140 to dynamically change the UWBanchor assignment as appropriate if, and as, the mobile devices 140 movewithin the space 101.

The space 101 can include any indoor or outdoor area, such as a home,school, campus, office building, conference center, stadium, or othervenue or location or portion thereof. The space 101 may support anydensity of mobile devices 140. The location engine 190 can be configuredto assign anchors so that accurate client ranging is enabled for each ofthe mobile devices 140 regardless of density. For example, as set forthin more detail below, for a particular mobile device 140, the locationengine 190 can select an optimal set of anchors for client ranging fromall available radio devices 105, peripheral UWB anchor devices 115,and/or standalone UWB anchor devices 120 in the space 101.

The location engine 190 can be configured to coordinate client rangingprocedures involving any of a variety of different localizationtechniques. In an example embodiment, the location engine 190 can beconfigured to coordinate client ranging procedures involving one or moreUWB localization techniques, such as ToF, ToA, TDoA, RSSI, or anothertechnique involving analysis of UWB transmissions, and/or one or morenon-UWB localization techniques, such as lateration, AoA, or anothertechnique that does not involve UWB transmissions. For example, thelocation engine 190 can establish an initial set of anchor assignmentsfor a mobile device 140 by estimating a coarse location for the mobiledevice 140 using a non-UWB localization technique and selecting anoptimal set of UWB anchor points for UWB ranging based on the coarselocation, and can then use the selected UWB anchor points to determinemore precise location information for the mobile device 140 using one ormore UWB localization techniques. The location engine 190 also cancooperate with the controller 185 to change anchor assignments asappropriate if and as the mobile device 140 moves through the space 101,e.g., using a relative collision tolerance mapping for UWB anchors inthe space 101. Thus, the location engine 190 may limit UWB ranging toselected UWB anchor points, potentially reducing a likelihood of channelsaturation and/or signal collisions relative to a configuration in whichUWB ranging involves all available or nearby UWB anchor points.

The location engine 190 can include logic for performing one or morelocation computations based on the localization techniques. For example,the location engine 190 can process time, distance, angle, signalstrength, and/or other information from one or more of the radio devices105, peripheral UWB anchor devices 115, standalone UWB anchor devices120, and/or mobile devices 140 to determine and/or track a location of aparticular one of the mobile devices 140. The location engine 190 can beconfigured to return results of that processing to the particular one ofthe mobile devices 140, e.g., through one or more of the radio devices105, or to some other entity seeking that location information, if sodesired. In addition, or in the alternative, the radio devices 105,peripheral anchor devices 115, standalone UWB anchor devices 120, and/ormobile devices 140 can be configured to perform certain locationcomputations and, potentially, to report results from those computationsto the location engine 190.

In an example embodiment, the control device 180 is further configured,e.g., at the controller 185 and/or location engine 190, to use signalstrength information to monitor primary UWB anchor performance and,potentially, to trigger anchor reassignment if and when a signalstrength falls below a handover threshold. For example, if a signalstrength between a mobile device 140 and its assigned primary UWB anchorfalls below the handover threshold, the location engine 190 and/orcontroller 185 can cooperate to identify one or more other UWB anchorsfor which the mobile device 140 has had a signal strength above thehandover threshold during a predetermined period of time, and select oneof the plurality of UWB anchors as a new primary UWB anchor for themobile device 140.

The control device 180 also may be further configured, e.g., at thecontroller 185 and/or location engine 190, to manage, not only whichdevices are to range with one another, but also a speed/frequency atwhich they are to range and/or a budget allowed for the ranging. As maybe appreciated by a person of ordinary skill in the art, there is acounter-intuitive relationship between modulation complexity anddistance when using UWB. When a simple modulation with frequent pulserepetition and long preamble and burst durations is used, thetransmission may have a greater range than if a more complex scheme(where, e.g., the receiver has a shorter preamble training time and lessfrequent pulse repetitions) is used. However, frames with robustmodulation schemes take longer to transmit and, thus, consume more powerper unit of time (e.g., per second). As UWB is typically regulatedaround a maximum amount of energy transmitted per unit of time, a choiceof a stronger modulation may cause a system to either reduce the numberof frames per second or reduce the energy of frames transmitted. Analternative is to increase the modulation complexity, thereby reducingthe frame duration and allowing an increased transmit power. Therefore,the signal may be received by farther-away anchors and, at the sametime, because the signal is received by farther-away anchors, thedensity of the devices transmitting at the same time is increasedbecause each of their signals is shorter in time duration.

The control device 180 can be configured to balance these considerationswhen making anchor assignments and providing UWB ranging instructions.In particular, the control device 180 (e.g., at the controller 185and/or location engine 190) can be configured to evaluate a collisionrisk for a mobile device (such as the mobile device 140), both withrespect to other nearby devices and with respect to other deviceslocated farther away. For example, if a mobile device is instructed totransmit a stronger signal (because it is in a location where there arenot many UWB anchors, for example), then the signal will reach fartherand, therefore, be more likely to collide with signals involving othermobile devices. On the other hand, if the modulation used by the mobiledevice is more complex, its signal may not be demodulated by anotherdistant ranging device, and the signal may, therefore, simply act as anon-disruptive noise floor increase. Such collisions may be less likelyto be disrupting other mobile devices in a certain area of the space101, for example.

Though illustrated in FIG. 1 as discrete components, and as explainedabove, it should be appreciated that the controller 185 and locationengine 190 may be integrated or otherwise reconfigured in any number ofdifferent components without departing from the spirit and scope of theembodiments presented herein.

FIG. 2 is a block diagram of an access point 200, according to anexample embodiment. The access point 200 includes a Wi-Fi chipset 220for providing Wi-Fi functionality, a BLE chipset 235 for providing BLEfunctionality, and a UWB chipset 250 for providing UWB functionality.The Wi-Fi chipset 220 includes one or more Wi-Fi radio transceivers 225configured to perform Wi-Fi RF transmission and reception, and one orWi-Fi baseband processors 230 configured to perform Media Access Control(MAC) and physical layer (PHY) modulation/demodulation processing. TheBLE chipset 235 includes a BLE radio transceiver 240 configured toperform BLE RF transmission and reception, and a BLE baseband processor245 configured to perform BLE baseband modulation and demodulation. TheUWB chipset 250 includes a UWB radio transceiver 255 configured toperform UWB RF transmission and reception, and a UWB baseband processor260 configured to perform UWB baseband modulation and demodulation. Forexample, the Wi-Fi chipset 220, BLE chipset 235, and UWB chipset 250 maybe implemented in one or more application-specific integrated circuits(ASICs), field-programmable gate arrays (FPGAs) or other digital logicembodied in one or more integrated circuits.

The access point 200 includes one or more processors 205, which mayembody or include one or more microprocessors and/or microcontrollers.In addition, the access point 200 includes a memory 210 that storescontrol logic 215. The processor(s) 205 are configured to executeinstructions of the control logic 215 to execute various controlfunctions for the access point 200.

As would be understood by a person of ordinary skill in the art, thefeatures and functionality of the access point 200 are illustrative andcan vary in alternative example embodiments. For example, the accesspoint 200 may include more, less, or different chipsets in alternativeexample embodiments. In particular, the access point 200 may not includethe Wi-Fi chipset 220 if the access point 200 does not include Wi-Fifunctionality; the access point 200 may not include the BLE chipset 235if the access point 200 does not include BLE functionality; and theaccess point 200 may not include the UWB chipset 250 if the access point200 does not include UWB functionality. In addition, as would berecognized by a person of ordinary skill in the art, the access point200 may include one or more additional components, such as a networkinterface to provide an IEEE 802.11 connection, Ethernet connection, orother connection, which are not depicted in FIG. 2 for purposes ofsimplicity.

FIG. 3 is a block diagram of a mobile device 300, according to anexample embodiment. As would be appreciated by a person of ordinaryskill in the art, the mobile device 300 includes chipsets similar to thechipsets of an access point, though with configurations for client-sideoperations and mobile device/battery-powered use cases. In particular,as with the access point 200 described above in connection with FIG. 2,the mobile device 300 includes a Wi-Fi chipset 320 for providing Wi-Fifunctionality, a BLE chipset 335 for providing BLE functionality, and aUWB chipset 350 for providing UWB functionality, with the Wi-Fi chipset320 including one or more Wi-Fi radio transceivers 325 and one or Wi-Fibaseband processors 330, the BLE chipset 335 including a BLE radiotransceiver 340 and a BLE baseband processor 345, and the UWB chipset350 including a UWB radio transceiver 355 and a UWB baseband processor360. The mobile device 300 also includes one or more processors 305(e.g., microprocessor(s) and/or microcontroller(s)) and a memory 310that stores control logic 315.

As would be understood by a person of ordinary skill in the art, thefeatures and functionality of the mobile device 300 are illustrative andcan vary in alternative example embodiments. For example, as with theaccess point 200 depicted in FIG. 2, the mobile device 300 can includemore, less, or different components in alternative example embodiments.

FIG. 4 is a block diagram of a UWB anchor device 400, according to anexample embodiment. The UWB anchor device 400 can be, for example, astandalone UWB anchor device or a peripheral UWB anchor device.Accordingly, the UWB anchor device 400 may include some, but not all, ofthe features depicted in FIGS. 2 and 3 for example access point 200 andmobile device 300, respectively. In particular, while the UWB anchordevice 400 includes a UWB chipset 450 (with a UWB radio transceiver 455and UWB baseband processor 460), as well as one or more processors 405(e.g., microprocessor(s) and/or microcontroller(s)) and a memory 410that stores control logic 415, the UWB anchor device 400 does notinclude a Wi-Fi chipset or BLE chipset.

However, the UWB anchor device 400 may include these features, and/orother features not depicted in FIG. 4, in alternative exampleembodiments. For example, the UWB anchor device 400 can includeadditional communication capabilities beyond UWB, such as BLE wirelesscommunication capabilities and/or wired communication capabilities, inalternative example embodiments. In addition, as noted above, the UWBanchor device 400 (or functionality thereof) may be integrated in, orconnected to, a radio device, such as the access point 200, which mayinclude the same or different components than those depicted in the UWBanchor device 400 of FIG. 4.

Turning now to FIGS. 5A and 5B, an example operational flow 500 fordynamic anchor assignments for UWB ranging is now described. Referringfirst to FIG. 5A, in a first stage 501, a mobile device 550 has entereda venue 505. The venue 505 includes any indoor or outdoor area, such asa home, school, campus, office building, conference center, stadium, orother venue or location or portion thereof. The venue 505 includes aplurality of access points 510-521, 523, and 524, and a plurality ofstandalone UWB anchor devices 540 and 541. Certain of the access points,namely access points 510, 511, 512, 513, 514, 515, 516, 517, 518, 519and 520 (the “APs w/UWB”), have UWB functionality, while certain otherof the access points, namely access points 521, 523, and 524 (the “APsw/o UWB”), do not have UWB functionality. As described above, each ofthe APs w/UWB 510-520 can achieve UWB functionality either by includingbuilt-in/integrated UWB functionality or by being connected to aperipheral UWB anchor device or other device with UWB functionality. Forsimplicity, the UWB functionality for each of the APs w/UWB 510-520 isdescribed below with reference to the APs w/UWB 510-520, though it is tobe understood that such functionality may be provided by, or involve, aperipheral UWB device or other device connected to the APs 510-520.

A control device 580 is configured to cooperate with the access points(510-521, 523, and 524), standalone UWB anchor devices 540 and 541,and/or mobile device 550 to provide client ranging for the mobile device550. For example, the control device 580 can be configured to causeclient ranging procedures to be initiated upon entry of the mobiledevice 550 into the venue 505, e.g., by assigning one or more of the APsw/UWB 510-520 and/or standalone UWB anchor devices 540 and 541 as aprimary anchor for completing a location exchange with the mobile device550 and other of the APs w/UWB 510-520 and/or standalone UWB anchordevices 540 and 541 as secondary anchors for passively receivingtransmissions involving the mobile device 550 for location processing.The control device 580 also may be configured to dynamically adjust theanchor assignment if, and as, the mobile device 550 moves within thevenue 505. Though depicted as being disposed within the venue 505, itshould be understood that the control device 580 may be located remotefrom the venue 505, e.g., in a cloud-based solution, in alternativeexample embodiments.

In the stage 501 as shown in FIG. 5A, the mobile device 550 is locatedat a location A and has been assigned by the control device 580 tocomplete UWB ranging with AP 516 serving as a primary anchor and AP 511,AP 517, and standalone UWB anchor device 540 serving as secondaryanchors. In particular, the control device 580 has caused AP 516 tocomplete a location exchange 560 with the mobile device 550, and AP 511,AP 517, and standalone UWB anchor device 540 to passively receive thetransmission(s) that the mobile device 550 sends to AP 516 (as theprimary anchor) and the transmission(s) that AP 516 (as the primaryanchor) sends to the mobile device 550, as shown at 555 a, 555 b, and555 c. For example, each of the secondary UWB anchors can report to acontroller of the control device 580 each frame it detects, and to alocation engine of the control device 580, each frame that allowscomputation of a range. In addition, or in the alternative, deviceswithin RF proximity of the primary anchor (AP 516), including thesecondary anchors (AP 511, AP 517, and standalone UWB anchor device 540)and potentially other devices in the venue 505, can collect, and/orreport to the control device 580, information such as mobile device MACaddress, primary anchor MAC address, detecting (i.e., reporting) deviceMAC address, RSSI, pulse identifier, timestamp, etc. The informationcollected by, and/or reported to, the control device 580 can be used bythe control device 580 both for location tracking and to establishcollision map information, which may be used by the control device 580to dynamically re-assign anchors, as described in more detail below.

In a second stage 502 (shown in FIG. 5B), the mobile device 550 hasmoved to a location B. The control device 580 is configured to detectthis movement, e.g., based on information from one or more of the accesspoints (510-521, 523, and 524), standalone UWB anchor devices 540 and541, and/or mobile device 550, and to dynamically adjust the anchorassignment as appropriate in response to the movement. For example, thecontrol device 580 can initiate an anchor reassignment in response to asignal strength between the mobile device 550 and AP 516 (i.e., theprevious primary anchor for the mobile device 550) falling below apredetermined handover threshold. The signal strength may be detectedby, or reported to, the control device 580, e.g., by one or more of theaccess points (510-521, 523, and 524), standalone UWB anchor devices 540and 541, and/or mobile device 550.

The control device 580 can identify one or more UWB anchor devices otherthan the AP 516 as potential new primary UWB anchors for the mobiledevice 550. For example, the control device 580 can identify one or moreof the APs w/UWB 510-515 and 517-520, and the standalone UWB anchordevices 540 and 541 as potential new primary UWB anchors. In an exampleembodiment, the control device 580 identifies (e.g., from the set of APsw/UWB 510-515 and 517-520 and the standalone UWB anchor devices 540 and541) one or more anchor devices for which the mobile device 550 has hada signal strength above the handover threshold during a predeterminedperiod of time.

The control device 580 can select from those anchor devices a newprimary anchor and a set of one or more secondary anchors for the mobiledevice 550. For example, the control device 580 can select the newprimary anchor by computing collision map information, including, e.g.,a relative collision tolerance mapping. In an example embodiment, thecontrol device 580 can compute the relative collision tolerance mappingby using a cross-correlation of one or more temporal probabilitycollision maps and one or more geometric collision maps, along withsignal levels (and/or other information) when collisions have occurred.Example operations for computing a relative collision tolerance mappingare described in more detail below.

In the example depicted in FIG. 5B, the control device 580 has assignedAP 511 as the new primary anchor for the mobile device 550 and AP 514,AP 515, and UWB anchor device 541 as secondary anchors for the mobiledevice 550. In particular, the control device 580 has caused AP 511 tocomplete a location exchange 570 with the mobile device 550, and AP 514,AP 515, and UWB anchor device 541 to passively receive thetransmission(s) that the mobile device 550 sends to AP 511 (as theprimary anchor) and the transmission(s) that AP 511 (as the primaryanchor) sends to the mobile device 550, as shown at 575 a, 575 b, and575 c.

FIG. 6 is a diagram depicting how UWB ranging operations may be assignedbetween BLE broadcasts, according to an example embodiment. Inparticular, FIG. 6 shows a Time Division Multiple Access (TDMA)operation 600 in which a BLE broadcast interval 605, i.e., a timebetween two BLE universally unique identifier (UUID) broadcasts (610,615), is divided into a plurality of time slots 620. A control device(such as control device 180 or control device 580 described above withreference to FIGS. 1 and 5A/5B, respectively) is configured to schedulea signal transmission for UWB ranging (e.g., a transmission between amobile device and a primary anchor) during each of the time slots 620.For example, the BLE broadcasts 610 and 615 can include UWB ranginginstructions, including applicable interval and time slot informationfor the UWB ranging. It should be appreciated that the TDMA operation600 is illustrative and can vary in alternative example embodiments.

FIG. 7 is a diagram depicting chip assignments for transmission of UWBpulses for UWB ranging, according to an example embodiment. Asillustrated in FIG. 7, a signal 700 may include a series of pulses p(t)of duration Tp (e.g., measured in nanoseconds). The signal 700 isconveyed by repeating the pulses p(t) over Nf frames, with one pulsep(t) per frame (of frame duration Tf>>Tp), resulting in a low duty cycletransmission form.

Each frame includes Nc chips, each of a chip duration Tc. In order toavoid collisions between neighboring systems, UWB ranging may utilize ahopping sequence, which means that, within each frame, the UWB systempicks a chip index during which the signal 700 will be sent. By changingthe Tc index used to transmit from one frame to the next, a UWBtransmitter minimizes the risk of collision between competingtransmitters. However, collisions still may occur, particularly whenthere is a high density of devices completing UWB ranging operations.

For example, an anchor may receive a signal stronger than it shouldreceive, or that it cannot demodulate effectively, or may send aresponse that is not received, etc. In most cases, the collision isdetected, but the detector does not know the source of the collision(because the message is scrambled by the collision and, thus, cannot beread). However, because the control device has knowledge about whichdevice was supposed to communicate with which other device, a possiblesource/cause can be inferred. For example, if a particular anchor tellsthe control device that it sent a message to a particular mobile deviceand did not receive a reply, while the particular anchor and anotheranchor received a strong pulse they could not decipher at that time, thecontrol device can determine that there was a collision between themessage and the pulse. It should be appreciated, though, that therecould be more than one possible source of a collision. Moreover, itshould be appreciated that the chip assignments depicted in FIG. 7 areillustrative and can vary in alternative example embodiments.

FIG. 8 is a diagram depicting collision counts 800 tracked in connectionwith UWB ranging operations, according to an example embodiment. Forexample, an AREA engine of a control device can be configured tocompute, for each reported UWB ranging exchange, {frame count,collision-free chip count, collided chip count} and/or other informationrelated to the UWB ranging exchange and any collisions thereof. A chipcollision occurs when two mobile devices use the same Nc chip within agiven frame to send the Tc chip. For example, this can result in a BurstPosition Modulation—Binary Phase Shift Keying (BPM-BPSK) pulse with thewrong intensity. For example, for each UWB anchor in a particular space,the AREA engine can compute a number of frames reported for a giveninterval (e.g., 1 second, though the interval could be more or less than1 second), along with a number of collisions. The frames reported mayinclude, e.g., frames detected by the UWB anchor for its own mobiledevice traffic and/or frames detected by the UWB anchor from mobiledevices in UWB proximity to the UWB anchor ranging with other UWBanchors. As shown in the example collision counts 800, a number ofcollisions 805 may generally increase as a number of frames for a giveninterval 810 increases.

FIG. 9 is a diagram illustrating a temporal probability collision map900 computed in connection with UWB ranging operations, according to anexample embodiment. The temporal probability collision map 900indicates, for a particular UWB anchor, a collision probability 905 fora count 910 of mobile devices ranging against the particular UWB anchor.For example, the temporal probability collision map 900 can indicate,for the particular UWB anchor, a change in collision probability 905 ifthe count 910 of mobile devices ranging against the particular UWBanchor increases (or otherwise changes).

In an example embodiment, an AREA engine of a control device can beconfigured to compute the collision probability 905 by trackingcollision counts (e.g., as described above with reference to FIG. 8),along with numbers of mobile devices (e.g., by source MAC address)completing UWB ranging operations. For example, the AREA engine cancount collisions over a period of time and map the collisions againstthe applicable anchors and mobile devices to compute the collisioncounts and/or collision probability 905. The AREA engine also canconsider in calculating the collision probability 905, for example,density of the mobile devices, their movements, and their risk ofdisrupting other mobile devices. For example, the AREA engine can beconfigured to extrapolate a future position of a mobile device (e.g.,using a regression technique) based on its direction of displacement(determined from its successive ranging exchanges) and thus deduce notonly its current collision risk but also its future collision risk(“risks in a few seconds”). Thus, the AREA engine can point not only tothe best anchor “now,” but also to the best anchor “now and for the nextfew seconds to come as you (the mobile device) keep moving.”

It should be appreciated that the temporal probability collision map 900is illustrative and can vary in alternative example embodiments. Forexample, the temporal probability collision map 900 can include more orless details regarding the collision probability 905 and mobile devicecount 910 in alternative example embodiments. In addition, the temporalprobability collision map 900 could constitute a collection of data in aform other than the form depicted in FIG. 9, such as one or more tables,charts, etc., which may or may not include a “map” or otherdiagram/drawing visually representing the collision probability 905,mobile device count 910, etc.

FIG. 10 is a diagram illustrating a geometric collision map 1000computed in connection with UWB ranging operations, according to anexample embodiment. Generally, a geometric collision map identifies, fora particular UWB anchor, other UWB anchors that have each detected atleast one mobile device-to-anchor exchange involving the particular UWBanchor over a period of time. Thus, the geometric collision mapindicates (e.g., on a map, for each square of a grid, or otherwise) whatranging against any possible UWB anchor might mean in terms ofdetections by/from other UWB anchors. For example, an AREA engine of acontrol device 580 may be configured to compute a geometric collisionmap for each anchor and detected ranging exchange in a venue 505. In theexample geometric collision map 1000, it is shown (at 1005) that, for AP511 (as the primary anchor for mobile device 550), AP 510, AP 518, AP512, AP 519, standalone UWB anchor device 540, AP 517, AP 516, UWBanchor device 541, AP 515, and AP 514 have each detected at least onelocation exchange 570 involving AP 511 and the mobile device 550.

In an example embodiment, the detecting may reflect, or be affected by,a minimum detection threshold established and/or managed by a controldevice 580. For example, the AREA engine may provide that any UWBtransmission (pulse) from a mobile device will be ignored if it has astrength below a predetermined threshold. The threshold may be manuallyconfigured or be based on one or more anchor characteristics. Forexample, an anchor having a first type or model may have a detectionthreshold of about 99 dBm, while another anchor having a second type ormodel may have a detection threshold of about 94 dBm. It should beappreciated, however, that the detection threshold may vary or beomitted in different example embodiments.

The AREA engine may be further configured to overlap individualgeometric collision maps with one another to identify and/or determinecollision risk. For example, when a first mobile device ranges with afirst anchor, and a second mobile device ranges with a second anchor,there may be a collision risk if all of these devices are in range withone another. Overlapping the geometric collision maps may allow the AREAengine to quantify this risk.

In an example embodiment, the AREA engine may be configured to consider(e.g., within, or in connection with, the geometric collision maps)physical distance, signal strength, signal complexity, and otherinformation, which may impact a likelihood of collision risk. Forexample, the AREA engine may determine that a collision risk is presentbut relatively low if the geometric collision maps indicate that UWBsignals from the first mobile device are barely heard/detected by thesecond anchor (when the first anchor is heard/detected by the secondanchor), e.g., because of a physical distance between the devices and/ora relative signal strength or complexity.

As would be understood by a person of ordinary skill in the art, thefeatures, structure, layout, and design of the geometric collision map1000 is illustrative and can vary in alternative example embodiments.For example, the geometric collision map 1000 can include more or lessdetails regarding the venue 505, devices, the detected rangingexchanges, and their respective locations, in alternative exampleembodiments. In addition, the geometric collision map 1000 couldconstitute a collection of data in a form other than the form depictedin FIG. 10, such as one or more tables, charts, etc., which may or maynot include a “map” or other diagram/drawing visually representing thevenue 505, devices, or detected ranging exchanges.

In an example embodiment, the AREA engine can be configured tocross-correlate at least one temporal probability collision map (such asthe temporal probability collision map 900) and at least one geometriccollision map (such as the geometric collision map 1000) to build arelative collision tolerance mapping (also called a “collision tolerancemap”). The relative collision tolerance mapping can include a pairwisemapping between a plurality of UWB anchors, which indicates, for a givencount of mobile devices ranging against a particular one of the UWBanchors, a probability that a mobile device ranging against another ofthe UWB anchors would cause a destructive collision with the particularone of the plurality of UWB anchors.

FIG. 11A is a diagram depicting a collision tolerance map 1100 computedin connection with UWB ranging operations, according to an exampleembodiment. The collision tolerance map 1100 shows a destructivecollision probability 1105 that a mobile device may have with one ormore of a plurality of UWB anchors 1115 (including anchors 1115 a, 1115b, 1115 c, and 1115 d) if and as the mobile device moves, over time andrelative to other mobile devices (e.g., along the x-axis 1110), in avenue. For example, per the collision tolerance map 1100, when each ofthe anchors 1115 has 19 mobile devices ranging, anchor 1115 c willexperience destructive collisions almost 100% of the time (vertical axisis at approximately 0.95), while anchor 1115 a will experiencedestructive collisions only about 20% of the time. Similarly, when eachof the anchors 1115 has one or only a few mobile devices ranging, it isexpected in the collision tolerance map 1100 that each of the anchors1115 will experience minimal destructive collisions.

It should be appreciated that the diagram depicted in FIG. 11A issimplified for illustrative purposes. In particular, while the collisiontolerance map 1100 includes three dimensions, with each of the anchors1115 having a same number of ranging mobile devices (along the x-axis1110), the collision tolerance map 1100 may have four dimensions toreflect that each of the anchors 1115 can have a different number ofranging mobile devices, in alternative example embodiments. For example,FIG. 11B illustrates a slice representation of an example collisiontolerance map 1150, which shows, for a given number of mobile devicesranging on a first anchor 1155, the collision risk 1160 based on thenumber of mobile devices 1165 on second and third anchors. The collisionrisk 1160 is indicated in a grayscale heat map, in which shadegradations are intentional and represent data (e.g., relative collisionrisk).

As noted above, a “destructive collision” is a collision that causes aUWB anchor not to receive a signal intended for the UWB anchor at alevel sufficient for the UWB anchor to interpret the signal. A collisionmay be considered “non-destructive,” for example, if a UWB anchorreceives a signal, which reflects the occurrence of the collision butnevertheless is at a level sufficient for the UWB anchor to interpretthe signal. The AREA engine can be configured to compute and reflect inthe probability 1105 a differentiation (e.g., by applying one or moredifferent weights and/or filters) between potential destructivecollisions and potential non-destructive collisions. For example, theAREA engine can use a cross-correlation of the temporal probabilitycollision map(s) and the geometric collision map(s), along with signallevels when collisions have occurred (e.g., based on collisioninformation collected or computed by the AREA engine, which may or maynot be reflected in the temporal probability collision map and/orgeometric collision map), to compute the collision tolerance map1100/1150 to reflect the probability 1105/1160 of destructivecollisions.

The AREA engine can, e.g., compare collided chips between anchor pairs(when two mobile devices range against two anchors and result in acollided chip) to determine to what degree a particular collision wasdestructive. For example, when mobile devices are close to each other,and when anchors are close to each other, collisions may be highlydestructive, with intended signals being impacted such that they cannotmeaningfully be read. However, as the distance between anchorsincreases, the effects of the collisions may be reduced, as the anchorsmay receive intended signals at levels sufficient to interpret pulses,even if the signal levels reflect a collision. The AREA engine can beconfigured to analyze these considerations, e.g., when computing thedestructive collision probability 1105 in the collision tolerance map1100 and/or the collision risk 1160 in the collision tolerance map 1150.

In an example embodiment, the collision probability 1105/collision risk1160 can include a weighted value to reflect a degree to which anypotential collision may be expected to be destructive. For example, if acollision is highly likely (e.g. p=0.78) for 2 mobile devices in givenquadrants, but their relative position and the position of the anchorsare expected to result in a low destructivity, for example adestructivity weight of 0.2, a collision probability score for thesedevices may be calculated as a product of the collision probabilitytimes the destructivity weight, i.e., 0.78 times 0.2, to yield acollision probability score of 0.39.

In an example embodiment, the AREA engine is configured to re-computethe collision tolerance map 1100/1150—and/or the temporal probabilitycollision map, geometric collision map, or any signal or otherinformation included or reflected in the collision tolerance map1100/1150—at time intervals as mobile devices traverse a space. Thus, atany given moment, the AREA engine may have a real-time or near real-timeview of collision risk potential within the space.

It should be appreciated that the features, structure, layout, anddesign of the collision tolerance maps 1100 and 1150 are illustrativeand can vary in alternative example embodiments. For example, thecollision tolerance map (1100, 1150) can include more or less detailsregarding the venue, mobile devices, anchors 1115, and their respectivecollision probabilities/risks (1105, 1160), in alternative exampleembodiments. In addition, while the collision tolerance map 1100includes information regarding four anchors 1115 and up to 19 rangingmobile devices, and the collision tolerance map 1150 includesinformation regarding three anchors and up to 10 ranging mobile devices,it should be appreciated that the collision tolerance maps 1100 and 1150can be modified to reflect any number of anchors and ranging mobiledevices, as applicable for a given use case. The collision tolerancemaps 1100 and 1150 also could be modified in alternative exampleembodiments to constitute a collection of data in in a form other thanthe form depicted in FIGS. 11A and 11B, such as one or more tables,charts, graphs, maps, etc.

Turning now to FIG. 12, an example operation 1200 is shown for selectinga new UWB primary anchor for a mobile device as the mobile device movesthrough a venue, according to an example embodiment. At a first time1205, a signal strength 1201 (e.g., an RSSI or other value) between ananchor 1210 and a mobile device ranging against the anchor 1210—which isserving as the primary UWB anchor for the mobile device—is above ahandover threshold 1250, while a signal strength 1201 between an anchor1215 and the mobile device is fluctuating around the handover threshold1250, and a signal strength 1201 between an anchor 1220 and the mobiledevice is below the handover threshold 1250. An AREA engine of a controldevice associated with the anchors (1210, 1215, 1220) is configured tomonitor the signal strengths 1201 of the respective devices over time1202 and relative to the handover threshold 1250, which may be anypredetermined signal strength value.

As may be appreciated, a signal strength 1201 may fluctuate for avariety of reasons, including, for example, changes in a physicallocation, performance, etc. of the mobile device and/or anchors (1210,1215, 1220). For example, when a mobile device moves within a space inwhich the anchors (1210, 1215, 1220) are fixed or otherwise relativelystationary, a relative signal strength 1201 between the mobile deviceand each of the anchors (1210, 1215, 1220) may increase or decrease asthe mobile device moves closer or further away, respectively, from theanchors (1210, 1215, 1220). In the example depicted in FIG. 12, at atime 1275, a signal strength 1201 of the anchor 1210 has fallen belowthe handover threshold 1250, while signal strengths 1201 for the anchors1215 and 1220 have increased above the handover threshold 1250. Forexample, these signal strength changes may reflect a situation in whichthe mobile device has moved away from the anchor 1210 and closer to theanchors 1215 and 1220 at or around the time 1275.

In response to determining that the signal 1201 between the mobiledevice and (its primary) anchor 1210 has fallen below the handoverthreshold, the control device initiates a procedure at time 1280 todynamically reassign the primary UWB anchor for the mobile device. Forexample, the control device can identify a plurality of UWB anchors—inthis case, anchors 1215 and 1220—for which the mobile device has had asignal strength above the handover threshold during a predeterminedperiod of time, and select one of the plurality of UWB anchors as a newprimary UWB anchor for the mobile device. The control device can selectthe new UWB anchor from the plurality of UWB anchors for which themobile device has had the signal strength above the handover thresholdduring the predetermined period of time, for example, based onrespective tolerance and mobile device signal levels, e.g., using one ormore collision tolerance maps, temporal probability collision maps,and/or geometric collision maps computed as described above. Forexample, the control device can maximize {tolerance, mobile devicesignal} and select a primary UWB anchor with a highest relativetolerance and mobile device signal.

The control device can send a command that causes a UWB rangingprocedure to be performed between the mobile device and the new primaryUWB anchor. For example, in the embodiment depicted in FIG. 12, thecontrol device can send instructions to the previous primary anchor 1210and the new primary anchor—either anchor 1215 or anchor 1220—whichindicate the anchor reassignment, and the control device and/or one ormore of the anchor 1210, the anchor 1215, or the anchor 1220 can send aUUID or other message to the mobile device, instructing the mobiledevice to range against the new primary anchor.

It should be appreciated that the operation 1200 is illustrative and canvary in alternative example embodiments. For example, it should beappreciated that the number of anchors, the handover threshold value,the time between detecting a signal strength below the handoverthreshold value and the reassignment of the primary UWB anchor can varyin alternative example embodiments.

Turning now to FIG. 13, an example method 1300 is shown for dynamicanchor assignments for UWB ranging, according to an example embodiment.In step 1305, a control device (e.g., at a controller, AREA engine, orlocation engine thereof) monitors signal strength (e.g., RSSI or anothervalue) between a mobile device and a plurality of UWB anchors. Theplurality of UWB anchors include a primary anchor that has been assignedto the mobile device for UWB ranging.

In step 1310, the control device (e.g., at the controller, AREA engine,or location engine) determines whether a signal strength between themobile device and the primary UWB anchor is below a predeterminedthreshold, e.g., a handover threshold. If the control device determinesin step 1310 that the signal strength is not below the predeterminedthreshold, then the method 1300 continues to step 1305 where the controldevice continues to monitor the signal strengths. If the control devicedetermines in step 1310 that the signal strength between the mobiledevice and the primary UWB anchor is below the predetermined threshold,then the method 1300 continues to step 1315.

In step 1315, the control device (e.g., at the controller, AREA engine,or location engine) identifies a plurality of UWB anchors for which themobile device has had a signal strength above the predeterminedthreshold during a predetermined period of time. In step 1320, thecontrol device (e.g., at the controller, AREA engine, or locationengine) selects one of this plurality of UWB anchors (for which themobile device has had a signal strength above the predeterminedthreshold during the predetermined period of time) as a new primary UWBanchor for the mobile device. For example, the control device can makethis selection based on a relative collision tolerance mapping. Step1320 is described in more detail below with reference to FIG. 14.

In step 1325, the control device (e.g., at the controller, AREA engine,or location engine) sends a command that causes a UWB ranging procedureto be performed between the mobile device and the new primary UWBanchor. For example, the control device can send instructions to the oldprimary anchor and the new primary anchor, which indicate the anchorreassignment, and the control device and/or one or more of the anchorscan send a UUID or other message to the mobile device, instructing themobile device to range against the new primary anchor.

FIG. 14 is a flow chart depicting in more detail operations that may beperformed at step 1320 for selecting a new UWB anchor for a mobiledevice, according to an example embodiment. The operations of step 1320continue from step 1315 of the method 1300 described above. In step1405, the control device obtains at least one temporal probabilitycollision map indicating, for a particular UWB anchor, a collisionprobability if a mobile device count of mobile devices ranging againstthe particular UWB anchor increase. For example, the temporalprobability collision map can be (but does not have to be) similar tothe temporal probability collision map 900 described above withreference to FIG. 9.

In step 1410, the control device obtains at least one geometriccollision map identifying, for a particular UWB anchor, other UWBanchors that have detected at least one mobile device-to-anchor exchangeinvolving the particular UWB anchor. For example, the geometriccollision map can be (but does not have to be) similar to the geometriccollision map 1000 described above with reference to FIG. 10.

In step 1415, the control device computes a relative collision tolerancemapping by cross-correlating the temporal probability collision map andthe geometric collision map. The control device also may use signalstrength, complexity, and/or other information, which may or may not beincluded in the temporal probability collision map and/or geometriccollision map, to compute the relative collision tolerance mapping. Therelative collision tolerance mapping includes, for each particular oneof a plurality of UWB anchors (e.g., the plurality of UWB anchors forwhich the mobile device has had a signal strength above thepredetermined threshold during the predetermined period of time), anindication, for a given count of mobile devices ranging against theparticular one of the UWB anchors, a probability that a mobile deviceranging against another of the plurality of UWB anchors would cause adestructive collision with the particular one of the UWB anchors.

In step 1420, the control device selects one of the plurality of UWBanchors as the new primary UWB anchor for the mobile device based on therelative collision tolerance mapping and a signal strength for themobile device. For example, the control device can maximize {tolerance,mobile device signal} and select a primary UWB anchor with a highestrelative tolerance and mobile device signal. Processing continues tostep 1325 in FIG. 13.

As would be recognized by a person of skill in the art, the stepsassociated with the methods of the present disclosure, including method1300 and the operations of step 1320, may vary widely. Steps may beadded, removed, altered, combined, and reordered without departing fromthe spirit or the scope of the present disclosure. Therefore, theexample methods are to be considered illustrative and not restrictive,and the examples are not to be limited to the details given herein butmay be modified within the scope of the appended claims.

Referring to FIG. 15, FIG. 15 illustrates a hardware block diagram of acomputing device 1500 that may perform functions associated withoperations discussed herein in connection with the techniques depictedin FIGS. 1-14. In various embodiments, a computing device, such ascomputing device 1500 or any combination of computing devices 1500, maybe configured as any entity/entities as discussed for the techniquesdepicted in connection with FIGS. 15, such as the control device 180,controller 185, area engine 195, or location engine 190 shown in FIG. 1or the control device 580 FIGS. 5A, 5B, and 10, in order to performoperations of the various techniques discussed herein.

In at least one embodiment, the computing device 1500 may include one ormore processor(s) 1505, one or more memory element(s) 1510, storage1515, a bus 1520, one or more network processor unit(s) 1525interconnected with one or more network input/output (I/O) interface(s)1530, one or more I/O interface(s) 1535, and control logic 1540. Invarious embodiments, instructions associated with logic for computingdevice 1500 can overlap in any manner and are not limited to thespecific allocation of instructions and/or operations described herein.

In at least one embodiment, processor(s) 1505 is/are at least onehardware processor configured to execute various tasks, operationsand/or functions for computing device 1500 as described herein accordingto software and/or instructions configured for computing device 1500.Processor(s) 1505 (e.g., a hardware processor) can execute any type ofinstructions associated with data to achieve the operations detailedherein. In one example, processor(s) 1505 can transform an element or anarticle (e.g., data, information) from one state or thing to anotherstate or thing. Any of potential processing elements, microprocessors,digital signal processor, baseband signal processor, modem, PHY,controllers, systems, managers, logic, and/or machines described hereincan be construed as being encompassed within the broad term ‘processor’.

In at least one embodiment, memory element(s) 1510 and/or storage 1515is/are configured to store data, information, software, and/orinstructions associated with computing device 1500, and/or logicconfigured for memory element(s) 1510 and/or storage 1515. For example,any logic described herein (e.g., control logic 1540) can, in variousembodiments, be stored for computing device 1500 using any combinationof memory element(s) 1510 and/or storage 1515. Note that in someembodiments, storage 1515 can be consolidated with memory element(s)1510 (or vice versa), or can overlap/exist in any other suitable manner.

In at least one embodiment, bus 1520 can be configured as an interfacethat enables one or more elements of computing device 1500 tocommunicate in order to exchange information and/or data. Bus 1520 canbe implemented with any architecture designed for passing control, dataand/or information between processors, memory elements/storage,peripheral devices, and/or any other hardware and/or software componentsthat may be configured for computing device 1500. In at least oneembodiment, bus 1520 may be implemented as a fast kernel-hostedinterconnect, potentially using shared memory between processes (e.g.,logic), which can enable efficient communication paths between theprocesses.

In various embodiments, network processor unit(s) 1525 may enablecommunication between computing device 1500 and other systems, entities,etc., via network I/O interface(s) 1530 to facilitate operationsdiscussed for various embodiments described herein. In variousembodiments, network processor unit(s) 1525 can be configured as acombination of hardware and/or software, such as one or more Ethernetdriver(s) and/or controller(s) or interface cards, Fibre Channel (e.g.,optical) driver(s) and/or controller(s), and/or other similar networkinterface driver(s) and/or controller(s) now known or hereafterdeveloped to enable communications between computing device 1500 andother systems, entities, etc. to facilitate operations for variousembodiments described herein. In various embodiments, network I/Ointerface(s) 1530 can be configured as one or more Ethernet port(s),Fibre Channel ports, and/or any other I/O port(s) now known or hereafterdeveloped. Thus, the network processor unit(s) 1525 and/or network I/Ointerface(s) 1530 may include suitable interfaces for receiving,transmitting, and/or otherwise communicating data and/or information ina network environment.

interface(s) 1535 allow for input and output of data and/or informationwith other entities that may be connected to computer device 1500. Forexample, I/O interface(s) 1535 may provide a connection to externaldevices such as a keyboard, keypad, a touch screen, and/or any othersuitable input and/or output device now known or hereafter developed. Insome instances, external devices can also include portable computerreadable (non-transitory) storage media such as database systems, thumbdrives, portable optical or magnetic disks, and memory cards. In stillsome instances, external devices can be a mechanism to display data to auser, such as, for example, a computer monitor, a display screen, or thelike.

In various embodiments, control logic 1540 can include instructionsthat, when executed, cause processor(s) 1505 to perform operations,which can include, but not be limited to, providing overall controloperations of computing device; interacting with other entities,systems, etc. described herein; maintaining and/or interacting withstored data, information, parameters, etc. (e.g., memory element(s),storage, data structures, databases, tables, etc.); combinationsthereof; and/or the like to facilitate various operations forembodiments described herein.

The programs described herein (e.g., control logic 1540) may beidentified based upon application(s) for which they are implemented in aspecific embodiment. However, it should be appreciated that anyparticular program nomenclature herein is used merely for convenience;thus, embodiments herein should not be limited to use(s) solelydescribed in any specific application(s) identified and/or implied bysuch nomenclature.

In various embodiments, entities as described herein may storedata/information in any suitable volatile and/or non-volatile memoryitem (e.g., magnetic hard disk drive, solid state hard drive,semiconductor storage device, random access memory (RAM), read onlymemory (ROM), erasable programmable read only memory (EPROM), ASIC,etc.), software, logic (fixed logic, hardware logic, programmable logic,analog logic, digital logic), hardware, and/or in any other suitablecomponent, device, element, and/or object as may be appropriate. Any ofthe memory items discussed herein should be construed as beingencompassed within the broad term ‘memory element’. Data/informationbeing tracked and/or sent to one or more entities as discussed hereincould be provided in any database, table, register, list, cache,storage, and/or storage structure: all of which can be referenced at anysuitable timeframe. Any such storage options may also be included withinthe broad term ‘memory element’ as used herein.

Note that in certain example implementations, operations as set forthherein may be implemented by logic encoded in one or more tangible mediathat is capable of storing instructions and/or digital information andmay be inclusive of non-transitory tangible media and/or non-transitorycomputer readable storage media (e.g., embedded logic provided in: anASIC, digital signal processing (DSP) instructions, software[potentially inclusive of object code and source code], etc.) forexecution by one or more processor(s), and/or other similar machine,etc. Generally, memory element(s) 1510 and/or storage 1515 can storedata, software, code, instructions (e.g., processor instructions),logic, parameters, combinations thereof, and/or the like used foroperations described herein. This includes memory element(s) 1510 and/orstorage 1515 being able to store data, software, code, instructions(e.g., processor instructions), logic, parameters, combinations thereof,or the like that are executed to carry out operations in accordance withteachings of the present disclosure.

In some instances, software of the present embodiments may be availablevia a non-transitory computer useable medium (e.g., magnetic or opticalmediums, magneto-optic mediums, CD-ROM, DVD, memory devices, etc.) of astationary or portable program product apparatus, downloadable file(s),file wrapper(s), object(s), package(s), container(s), and/or the like.In some instances, non-transitory computer readable storage media mayalso be removable. For example, a removable hard drive may be used formemory/storage in some implementations. Other examples may includeoptical and magnetic disks, thumb drives, and smart cards that can beinserted and/or otherwise connected to a computing device for transferonto another computer readable storage medium.

In summary, in one form, a computer-implemented method can includemonitoring, by a control device, ultra-wide band (UWB) ranging between amobile device and a primary UWB anchor. The control device can determinethat a signal strength between the mobile device and the primary UWBanchor is below a predetermined threshold. For example, the determiningcan indicate that the mobile device is moving away from the primary UWBanchor in a venue where the primary UWB anchor is located.

In response to the determining, the control device can identify aplurality of UWB anchors for which the mobile device has had a signalstrength above the predetermined threshold during a predetermined periodof time, the plurality of UWB anchors not including the primary UWBanchor; and select one of the plurality of UWB anchors as a new primaryUWB anchor for the mobile device based on a relative collision tolerancemapping for the new primary UWB anchor and at least one other UWB anchorwithin a UWB range of the new primary UWB anchor. The control device cansend a command that causes a UWB ranging procedure to be performedbetween the mobile device and the new primary UWB anchor.

For example, selecting the one of the plurality of UWB anchors as thenew primary UWB anchor for the mobile device can include determining,for each of the plurality of UWB anchors, a relative collision toleranceand a signal strength for the mobile device; and selecting the one ofthe plurality of UWB anchors as the new primary UWB anchor for themobile device based on the relative collision tolerance and the signalstrength. The relative collision tolerance mapping can be computed toinclude, for example, for each particular one of the plurality of UWBanchors, an indication, for a given count of mobile devices rangingagainst the particular one of the plurality of UWB anchors, aprobability that a mobile device ranging against another of theplurality of UWB anchors would cause a destructive collision with theparticular one of the plurality of UWB anchors.

Computing the relative collision tolerance mapping can include, e.g.,cross-correlating a temporal probability collision map and a geometriccollision map. The temporal probability collision map can indicate, fora particular UWB anchor, a collision probability if a mobile devicecount of mobile devices ranging against the particular UWB anchorincreases. The collision probability can be determined, e.g., based on acollision count and the mobile device count during a particular timeinterval. Computing can further include using a signal level when acollision occurs to determine whether a particular collision isconsidered a destructive collision. The geometric collision map canidentify, for a particular UWB anchor, other UWB anchors that have eachdetected at least one mobile device-to-anchor exchange involving theparticular UWB anchor. Computing the relative collision tolerancemapping can be performed repeatedly, at predetermined time intervals.

In another form, an apparatus can include an interface configured toenable network communications, and one or more processors coupled to theinterface. The one or more processors can be configured to performoperations including, e.g.: monitoring ultra-wide band (UWB) rangingbetween a mobile device and a primary UWB anchor; determining that asignal strength between the mobile device and the primary UWB anchor isbelow a predetermined threshold; in response to the determining:identifying a plurality of UWB anchors for which the mobile device hashad a signal strength above the predetermined threshold during apredetermined period of time, the plurality of UWB anchors not includingthe primary UWB anchor; and selecting one of the plurality of UWBanchors as a new primary UWB anchor for the mobile device based on arelative collision tolerance mapping for the new primary UWB anchor andat least one other UWB anchor within a UWB range of the new primary UWBanchor; and sending a command that causes a UWB ranging procedure to beperformed between the mobile device and the new primary UWB anchor.

In another form, one or more non-transitory computer readable storagemedia can include instructions that, when executed by at least oneprocessor, are operable to: monitor ultra-wide band (UWB) rangingbetween a mobile device and a primary UWB anchor; determine that asignal strength between the mobile device and the primary UWB anchor isbelow a predetermined threshold; in response to the determining:identify a plurality of UWB anchors for which the mobile device has hada signal strength above the predetermined threshold during apredetermined period of time, the plurality of UWB anchors not includingthe primary UWB anchor; and select one of the plurality of UWB anchorsas a new primary UWB anchor for the mobile device based on a relativecollision tolerance mapping for the new primary UWB anchor and at leastone other UWB anchor within a UWB range of the new primary UWB anchor;and send a command that causes a UWB ranging procedure to be performedbetween the mobile device and the new primary UWB anchor.

Variations and Implementations

Embodiments described herein may include one or more networks, which canrepresent a series of points and/or network elements of interconnectedcommunication paths for receiving and/or transmitting messages (e.g.,packets of information) that propagate through the one or more networks.These network elements offer communicative interfaces that facilitatecommunications between the network elements. A network can include anynumber of hardware and/or software elements coupled to (and incommunication with) each other through a communication medium. Suchnetworks can include, but are not limited to, any local area network(LAN), virtual LAN (VLAN), wide area network (WAN) (e.g., the Internet),software defined WAN (SD-WAN), wireless local area (WLA) access network,wireless wide area (WWA) access network, metropolitan area network(MAN), Intranet, Extranet, virtual private network (VPN), Low PowerNetwork (LPN), Low Power Wide Area Network (LPWAN), Machine to Machine(M2M) network, Internet of Things (IoT) network, Ethernetnetwork/switching system, any other appropriate architecture and/orsystem that facilitates communications in a network environment, and/orany suitable combination thereof.

Networks through which communications propagate can use any suitabletechnologies for communications including wireless communications (e.g.,4G/5G/nG, IEEE 802.11 (e.g., Wi-Fi/Wi-Fi6®), IEEE 802.16 (e.g.,Worldwide Interoperability for Microwave Access (WiMAX)),Radio-Frequency Identification (RFID), Near Field Communication (NFC),Bluetooth™, mm.wave, Ultra-Wideband (UWB), etc.), and/or wiredcommunications (e.g., T1 lines, T3 lines, digital subscriber lines(DSL), Ethernet, Fibre Channel, etc.). Generally, any suitable means ofcommunications may be used such as electric, sound, light, infrared,and/or radio to facilitate communications through one or more networksin accordance with embodiments herein. Communications, interactions,operations, etc. as discussed for various embodiments described hereinmay be performed among entities that may directly or indirectlyconnected utilizing any algorithms, communication protocols, interfaces,etc. (proprietary and/or non-proprietary) that allow for the exchange ofdata and/or information.

In various example implementations, entities for various embodimentsdescribed herein can encompass network elements (which can includevirtualized network elements, functions, etc.) such as, for example,network appliances, forwarders, routers, servers, switches, gateways,bridges, loadbalancers, firewalls, processors, modules, radioreceivers/transmitters, or any other suitable device, component,element, or object operable to exchange information that facilitates orotherwise helps to facilitate various operations in a networkenvironment as described for various embodiments herein. Note that withthe examples provided herein, interaction may be described in terms ofone, two, three, or four entities. However, this has been done forpurposes of clarity, simplicity and example only. The examples providedshould not limit the scope or inhibit the broad teachings of systems,networks, etc. described herein as potentially applied to a myriad ofother architectures.

Communications in a network environment can be referred to herein as‘messages’, ‘messaging’, ‘signaling’, ‘data’, ‘content’, ‘objects’,‘requests’, ‘queries’, ‘responses’, ‘replies’, etc. which may beinclusive of packets. As referred to herein and in the claims, the term‘packet’ may be used in a generic sense to include packets, frames,segments, datagrams, and/or any other generic units that may be used totransmit communications in a network environment. Generally, a packet isa formatted unit of data that can contain control or routing information(e.g., source and destination address, source and destination port,etc.) and data, which is also sometimes referred to as a ‘payload’,‘data payload’, and variations thereof. In some embodiments, control orrouting information, management information, or the like can be includedin packet fields, such as within header(s) and/or trailer(s) of packets.Internet Protocol (IP) addresses discussed herein and in the claims caninclude any IP version 4 (IPv4) and/or IP version 6 (IPv6) addresses.

To the extent that embodiments presented herein relate to the storage ofdata, the embodiments may employ any number of any conventional or otherdatabases, data stores or storage structures (e.g., files, databases,data structures, data or other repositories, etc.) to store information.

Note that in this Specification, references to various features (e.g.,elements, structures, nodes, modules, components, engines, logic, steps,operations, functions, characteristics, etc.) included in ‘oneembodiment’, ‘example embodiment’, ‘an embodiment’, ‘anotherembodiment’, ‘certain embodiments’, ‘some embodiments’, ‘variousembodiments’, ‘other embodiments’, ‘alternative embodiment’, and thelike are intended to mean that any such features are included in one ormore embodiments of the present disclosure, but may or may notnecessarily be combined in the same embodiments. Note also that amodule, engine, client, controller, function, logic or the like as usedherein in this Specification, can be inclusive of an executable filecomprising instructions that can be understood and processed on aserver, computer, processor, machine, compute node, combinationsthereof, or the like and may further include library modules loadedduring execution, object files, system files, hardware logic, softwarelogic, or any other executable modules.

It is also noted that the operations and steps described with referenceto the preceding figures illustrate only some of the possible scenariosthat may be executed by one or more entities discussed herein. Some ofthese operations may be deleted or removed where appropriate, or thesesteps may be modified or changed considerably without departing from thescope of the presented concepts. In addition, the timing and sequence ofthese operations may be altered considerably and still achieve theresults taught in this disclosure. The preceding operational flows havebeen offered for purposes of example and discussion. Substantialflexibility is provided by the embodiments in that any suitablearrangements, chronologies, configurations, and timing mechanisms may beprovided without departing from the teachings of the discussed concepts.

As used herein, unless expressly stated to the contrary, use of thephrase ‘at least one of’, ‘one or more of’, ‘and/or’, variationsthereof, or the like are open-ended expressions that are bothconjunctive and disjunctive in operation for any and all possiblecombination of the associated listed items. For example, each of theexpressions ‘at least one of X, Y and Z’, ‘at least one of X, Y or Z’,‘one or more of X, Y and Z’, ‘one or more of X, Y or Z’ and ‘X, Y and/orZ’ can mean any of the following: 1) X, but not Y and not Z; 2) Y, butnot X and not Z; 3) Z, but not X and not Y; 4) X and Y, but not Z; 5) Xand Z, but not Y; 6) Y and Z, but not X; or 7) X, Y, and Z.

Additionally, unless expressly stated to the contrary, the terms‘first’, ‘second’, ‘third’, etc., are intended to distinguish theparticular nouns they modify (e.g., element, condition, node, module,activity, operation, etc.). Unless expressly stated to the contrary, theuse of these terms is not intended to indicate any type of order, rank,importance, temporal sequence, or hierarchy of the modified noun. Forexample, ‘first X’ and ‘second X’ are intended to designate two ‘X’elements that are not necessarily limited by any order, rank,importance, temporal sequence, or hierarchy of the two elements. Furtheras referred to herein, ‘at least one of’ and ‘one or more of’ can berepresented using the ‘(s)’ nomenclature (e.g., one or more element(s)).

One or more advantages described herein are not meant to suggest thatany one of the embodiments described herein necessarily provides all ofthe described advantages or that all the embodiments of the presentdisclosure necessarily provide any one of the described advantages.Numerous other changes, substitutions, variations, alterations, and/ormodifications may be ascertained to one skilled in the art and it isintended that the present disclosure encompass all such changes,substitutions, variations, alterations, and/or modifications as fallingwithin the scope of the appended claims.

What is claimed is:
 1. A computer-implemented method comprising:monitoring, by a control device, ultra-wide band (UWB) ranging between amobile device and a primary UWB anchor; determining, by the controldevice, that a signal strength between the mobile device and the primaryUWB anchor is below a predetermined threshold; in response to thedetermining: identifying a plurality of UWB anchors for which the mobiledevice has had a signal strength above the predetermined thresholdduring a predetermined period of time, the plurality of UWB anchors notincluding the primary UWB anchor; and selecting one of the plurality ofUWB anchors as a new primary UWB anchor for the mobile device based on arelative collision tolerance mapping for the new primary UWB anchor andat least one other UWB anchor within a UWB range of the new primary UWBanchor; and sending, by the control device, a command that causes a UWBranging procedure to be performed between the mobile device and the newprimary UWB anchor.
 2. The computer-implemented method of claim 1,wherein selecting comprises: determining, for each of the plurality ofUWB anchors, a relative collision tolerance and a signal strength forthe mobile device; and selecting the one of the plurality of UWB anchorsas the new primary UWB anchor for the mobile device based on therelative collision tolerance and the signal strength.
 3. Thecomputer-implemented method of claim 1, further comprising computing therelative collision tolerance mapping to include, for a particular one ofthe plurality of UWB anchors, an indication, for a given count of mobiledevices ranging against the particular one of the plurality of UWBanchors, a probability that a mobile device ranging against another ofthe plurality of UWB anchors would cause a destructive collision withthe particular one of the plurality of UWB anchors.
 4. Thecomputer-implemented method of claim 3, wherein computing comprisescross-correlating a temporal probability collision map and a geometriccollision map.
 5. The computer-implemented method of claim 4, whereinthe temporal probability collision map indicates, for a particular UWBanchor, a collision probability if a mobile device count of mobiledevices ranging against the particular UWB anchor increases.
 6. Thecomputer-implemented method of claim 5, further comprising determiningthe collision probability based on a collision count and the mobiledevice count during a particular time interval.
 7. Thecomputer-implemented method of claim 4, wherein computing furthercomprises using a signal level when a collision occurs to determinewhether a particular collision is considered a destructive collision. 8.The computer-implemented method of claim 4, wherein the geometriccollision map identifies, for a particular UWB anchor, other UWB anchorsthat have each detected at least one mobile device-to-anchor exchangeinvolving the particular UWB anchor.
 9. The computer-implemented methodof claim 3, wherein computing is performed repeatedly, at predeterminedtime intervals.
 10. The computer-implemented method of claim 1, whereindetermining indicates that the mobile device is moving away from theprimary UWB anchor in a venue where the primary UWB anchor is located.11. An apparatus comprising: an interface configured to enable networkcommunications; and one or more processors coupled to the interface andconfigured to perform operations including: monitoring ultra-wide band(UWB) ranging between a mobile device and a primary UWB anchor;determining that a signal strength between the mobile device and theprimary UWB anchor is below a predetermined threshold; in response tothe determining: identifying a plurality of UWB anchors for which themobile device has had a signal strength above the predeterminedthreshold during a predetermined period of time, the plurality of UWBanchors not including the primary UWB anchor; and selecting one of theplurality of UWB anchors as a new primary UWB anchor for the mobiledevice based on a relative collision tolerance mapping for the newprimary UWB anchor and at least one other UWB anchor within a UWB rangeof the new primary UWB anchor; and sending a command that causes a UWBranging procedure to be performed between the mobile device and the newprimary UWB anchor.
 12. The apparatus of claim 11, wherein the one ormore processors are further configured to select the one of theplurality of UWB anchors as the new primary UWB anchor for the mobiledevice by: determining, for each of the plurality of UWB anchors, arelative collision tolerance and a signal strength for the mobiledevice; and selecting the one of the plurality of UWB anchors as the newprimary UWB anchor for the mobile device based on the relative collisiontolerance and the signal strength.
 13. The apparatus of claim 11,wherein the one or more processors are further configured to compute therelative collision tolerance mapping to include, for a particular one ofthe plurality of UWB anchors, an indication, for a given count of mobiledevices ranging against the particular one of the plurality of UWBanchors, a probability that a mobile device ranging against another ofthe plurality of UWB anchors would cause a destructive collision withthe particular one of the plurality of UWB anchors.
 14. The apparatus ofclaim 13, wherein the one or more processors are further configured tocompute the relative collision tolerance mapping by cross-correlating atemporal probability collision map and a geometric collision map, thetemporal probability collision map indicating, for a particular UWBanchor, a collision probability if a mobile device count of mobiledevices ranging against the particular UWB anchor increases, thegeometric collision map identifying, for a particular UWB anchor, otherUWB anchors that have each detected at least one mobile device-to-anchorexchange involving the particular UWB anchor.
 15. The apparatus of claim14, wherein the one or more processors are further configured to computethe relative collision tolerance mapping using a signal level when acollision occurs to determine whether a particular collision isconsidered a destructive collision.
 16. One or more non-transitorycomputer readable storage media comprising instructions that, whenexecuted by at least one processor, are operable to: monitor ultra-wideband (UWB) ranging between a mobile device and a primary UWB anchor;determine that a signal strength between the mobile device and theprimary UWB anchor is below a predetermined threshold; in response tothe determining: identify a plurality of UWB anchors for which themobile device has had a signal strength above the predeterminedthreshold during a predetermined period of time, the plurality of UWBanchors not including the primary UWB anchor; and select one of theplurality of UWB anchors as a new primary UWB anchor for the mobiledevice based on a relative collision tolerance mapping for the newprimary UWB anchor and at least one other UWB anchor within a UWB rangeof the new primary UWB anchor; and send a command that causes a UWBranging procedure to be performed between the mobile device and the newprimary UWB anchor.
 17. The one or more non-transitory computer readablestorage media of claim 16, wherein the instructions further cause theprocessor to select the one of the plurality of UWB anchors as the newprimary UWB anchor for the mobile device by: determining, for each ofthe plurality of UWB anchors, a relative collision tolerance and asignal strength for the mobile device; and selecting the one of theplurality of UWB anchors as the new primary UWB anchor for the mobiledevice based on the relative collision tolerance and the signalstrength.
 18. The one or more non-transitory computer readable storagemedia of claim 16, wherein the instructions further cause the processorto compute the relative collision tolerance mapping to include, for aparticular one of the plurality of UWB anchors, an indication, for agiven count of mobile devices ranging against the particular one of theplurality of UWB anchors, a probability that a mobile device rangingagainst another of the plurality of UWB anchors would cause adestructive collision with the particular one of the plurality of UWBanchors.
 19. The one or more non-transitory computer readable storagemedia of claim 16, wherein the instructions further cause the processorto compute the relative collision tolerance mapping by cross-correlatinga temporal probability collision map and a geometric collision map, thetemporal probability collision map indicating, for a particular UWBanchor, a collision probability if a mobile device count of mobiledevices ranging against the particular UWB anchor increases, thegeometric collision map identifying, for a particular UWB anchor, otherUWB anchors that have each detected at least one mobile device-to-anchorexchange involving the particular UWB anchor.
 20. The one or morenon-transitory computer readable storage media of claim 19, wherein theinstructions further cause the processor to compute the relativecollision tolerance mapping using a signal level when a collision occursto determine whether a particular collision is considered a destructivecollision.